相关论文: Multi-Modal Multi-Task (3MT) Road Segmentation

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

Accurate localization is a core component of a robot's navigation system. To this end, global navigation satellite systems (GNSS) can provide absolute measurements outdoors and, therefore, eliminate long-term drift. However, fusing GNSS…

Multi-object tracking (MOT) methods often rely on Intersection-over-Union (IoU) for association. However, this becomes unreliable when objects are similar or occluded. Also, computing IoU for segmentation masks is computationally expensive.…

Autonomous racing has rapidly gained research attention. Traditionally, racing cars rely on 2D LiDAR as their primary visual system. In this work, we explore the integration of an event camera with the existing system to provide enhanced…

Accurate and high-fidelity driving scene reconstruction relies on fully leveraging scene information as conditioning. However, existing approaches, which primarily use 3D bounding boxes and binary maps for foreground and background control,…

Modern autonomous driving perception systems utilize complementary multi-modal sensors, such as LiDAR and cameras. Although sensor fusion architectures enhance performance in challenging environments, they still suffer significant…

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling…

Multi-modality image fusion aims at fusing modality-specific (complementarity) and modality-shared (correlation) information from multiple source images. To tackle the problem of the neglect of inter-feature relationships, high-frequency…

Most existing perception systems rely on sensory data acquired from cameras, which perform poorly in low light and adverse weather conditions. To resolve this limitation, we have witnessed advanced LiDAR sensors become popular in perception…

Traffic congestion has significant impacts on both the economy and the environment. Measures of Effectiveness (MOEs) have long been the standard for evaluating traffic intersections' level of service and operational efficiency. However, the…

Multimodal camera-LiDAR fusion technology has found extensive application in 3D object detection, demonstrating encouraging performance. However, existing methods exhibit significant performance degradation in challenging scenarios…

Despite the rapid evolution of semantic segmentation for land cover classification in high-resolution remote sensing imagery, integrating multiple data modalities such as Digital Surface Model (DSM), RGB, and Near-infrared (NIR) remains a…

The rapid advancement of autonomous systems, including self-driving vehicles and drones, has intensified the need to forge true Spatial Intelligence from multi-modal onboard sensor data. While foundation models excel in single-modal…

LIDAR sensors are usually used to provide autonomous vehicles with 3D representations of their environment. In ideal conditions, geometrical models could detect the road in LIDAR scans, at the cost of a manual tuning of numerical…

Besides standard cameras, autonomous vehicles typically include multiple additional sensors, such as lidars and radars, which help acquire richer information for perceiving the content of the driving scene. While several recent works focus…

We present a novel approach, termed ADGaussian, for generalizable street scene reconstruction. The proposed method enables high-quality rendering from merely single-view input. Unlike prior Gaussian Splatting methods that primarily focus on…

Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…

We introduce MultiDepth, a novel training strategy and convolutional neural network (CNN) architecture that allows approaching single-image depth estimation (SIDE) as a multi-task problem. SIDE is an important part of road scene…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…